CN100415168C - Gantry positioning apparatus for x-ray imaging - Google Patents
Gantry positioning apparatus for x-ray imaging Download PDFInfo
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- CN100415168C CN100415168C CNB038223538A CN03822353A CN100415168C CN 100415168 C CN100415168 C CN 100415168C CN B038223538 A CNB038223538 A CN B038223538A CN 03822353 A CN03822353 A CN 03822353A CN 100415168 C CN100415168 C CN 100415168C
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- gantry
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- supporting construction
- detector
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- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
- A61B6/00—Apparatus for radiation diagnosis, e.g. combined with radiation therapy equipment
- A61B6/44—Constructional features of apparatus for radiation diagnosis
- A61B6/4429—Constructional features of apparatus for radiation diagnosis related to the mounting of source units and detector units
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- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
- A61B6/00—Apparatus for radiation diagnosis, e.g. combined with radiation therapy equipment
- A61B6/02—Devices for diagnosis sequentially in different planes; Stereoscopic radiation diagnosis
- A61B6/03—Computerised tomographs
- A61B6/032—Transmission computed tomography [CT]
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- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
- A61B6/00—Apparatus for radiation diagnosis, e.g. combined with radiation therapy equipment
- A61B6/44—Constructional features of apparatus for radiation diagnosis
- A61B6/4405—Constructional features of apparatus for radiation diagnosis the apparatus being movable or portable, e.g. handheld or mounted on a trolley
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- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61N—ELECTROTHERAPY; MAGNETOTHERAPY; RADIATION THERAPY; ULTRASOUND THERAPY
- A61N5/00—Radiation therapy
- A61N5/10—X-ray therapy; Gamma-ray therapy; Particle-irradiation therapy
- A61N5/1077—Beam delivery systems
- A61N5/1081—Rotating beam systems with a specific mechanical construction, e.g. gantries
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- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
- A61B6/00—Apparatus for radiation diagnosis, e.g. combined with radiation therapy equipment
- A61B6/44—Constructional features of apparatus for radiation diagnosis
- A61B6/4429—Constructional features of apparatus for radiation diagnosis related to the mounting of source units and detector units
- A61B6/4435—Constructional features of apparatus for radiation diagnosis related to the mounting of source units and detector units the source unit and the detector unit being coupled by a rigid structure
- A61B6/4441—Constructional features of apparatus for radiation diagnosis related to the mounting of source units and detector units the source unit and the detector unit being coupled by a rigid structure the rigid structure being a C-arm or U-arm
Abstract
A robotically controlled five degree-of-freedom x-ray gantry positioning apparatus, which is connected to a mobile cart, ceiling, floor, wall, or patient table, is being disclosed. The positioning system can be attached to a cantilevered o-shaped or c-shaped gantry. The positioning system can precisely translate the attached gantry in the three orthogonal axes X-Y-Z and orient the gantry about the X-axis and Y-axis while keeping the center of the gantry fixed, (see Figure 1). The positioning apparatus provides both iso-centric and non iso-centric 'Tilt' and 'Wag' rotations of the gantry around the X-axis and Y-axis respectively. The iso-centric 'Wag' rotation is a multi-axis combination of two translations and one rotation. Additionally, a field of view larger than that provided by the detector is provided in pure AP (anterior/posterior) and lateral detector positions through additional combinations of multi-axis coordinated motion. Each axis can be manually controlled or motorized with position feedback to allow storage of gantry transformations. Motorized axes enable the gantry to quickly and accurately return to preset gantry positions and orientations. A system and method for enlarging the field of view of the object being imaged combines a rotation of the x-ray source and detector with a multi-axis translation of the gantry.
Description
Relevant patent application
This part application require this by quote as proof with its all instruction incorporate in the interests of No. the 60/405th, 098, the United States Patent (USP) provisional application of application on August 21st, 2002.This part application with this by quote as proof with its all instruction incorporate into relevant in No. the 10/459th, 405, the U.S. Patent application of application on June 11st, 2003.
Prior art of the present invention
Medical practice had shown the immense value mainly as the diagnostic tool three-dimensional imaging of radiology department already.Other diagnosis and treatment field that comprises operating room, intensive care unit and emergency unit relies on the main means of two-dimensional imaging (fluoroscopy, ultrasound wave, two-dimentional moving X-ray inspection) as diagnosis and guidance treatment.This mainly is because the requisite cost of three-dimensional devices, size and the professional technique of operation with traditional.In addition, radioactivity CT scan device is in order to be that cost is obtained the highest picture quality and designed to sacrifice mobility.Be used for the also not exploitation of solution of mobile model imaging that to finish the real practicality of 2D and 3D imaging at same device of " non-radioactive department of the Chinese Academy of Sciences door ".Early stage trial does not just address the real demand that will keep sizable volume in the image quality level that satisfies expection.Past, promising two kind of means that address this demand recommendation.One kind of means is used the C-shape cantilever of mobile model and it is spinned round dissection, for example, and from Siemens AG
TMSiremobil Iso-C
3DSystem.These are loaded down with trivial details on program based on the limited visual field of trial of C-shape cantilever, and image quality is had inherent limit.
Other people has attempted making the mobile model CT of fixed inner diameter, for example, ButllerW.E. the device that waits the people in " A mobile CT Scanner with Intraoperative andICU Application (mobile CT scanner of in operation is carried out, using) ", to describe in 1998 with intensive care unit, (http://neurosurgery.mgh.harvard.edu/mobileCT.htm).Yet these so-called " mobile CT scanner " are to be characteristic with the dosage level that improves traditional fixed CT scan device, and they are difficult to motor-driven, and they can not finish the 2D imaging at needs in them.
In general, the standard of mobility and flexibility is satisfied in the trial of fluoroscopy C-shape cantilever, still deficiency aspect image quality and image volume." mobile CT scanner " attempts to satisfy the standard of image volume and quality, but can't solve the practical problem of availability and cost.In addition, the CT scan device of current top level can not be with mode translation and the inclination identical with the mobile model fluoroscopy systems.
Be used for " non-radioactive department of the Chinese Academy of Sciences door " and also can finish the real movably practical solution appearance as yet of the 3-D imaging of 2D imaging.This mainly is because in fact current x-ray tomography scanning device can not move this fact.Can't move the CT scan device with the degree of freedom identical with mobile model C-shape cantilever has hindered acceptance and has used the mobile model three-dimensional imaging.This is confined to field mainly as radiology department's diagnostic tool to the value of three-dimensional computer x-ray tomography scanning imagery.
Need operating room, intensive care unit, emergency room and other department for hospital; Mobile surgicenter; Use in doctor's office and military battlefield real movably can be in a plurality of degree of freedom translation and inclination and mobile CT scanner that can finish the two and three dimensions x-ray imaging.
General introduction of the present invention
One aspect of the present invention relates to and is used for making the method and apparatus of the gantry of radiation image-forming system with respect to the object localization for the treatment of imaging.In one embodiment, positioner is for gantry provides five degree of freedom, comprises along the translation motion of three orthogonal axis (X-Y-Z) with round the spinning movement of X-and Y-axis.
The gantry positioner that is used for five degree of freedom of radiation image-forming system comprises and being used in first linear positioner of first direction with respect to supporting construction translation gantry; Be used in second linear positioner of second direction with respect to supporting construction translation gantry, wherein second direction and first direction are orthogonal; Be used on third direction with respect to the trilinear localizer of supporting construction translation gantry, wherein the third direction and first and second directions are orthogonal; Be used for making gantry with respect to first rotational positioner of supporting construction round the first axle rotation; And be used for making gantry with respect to second rotational positioner of supporting construction round the rotation of second axis.Control system impels positioner that gantry is moved to predefined position and orientation.Predefined position and orientation can be that the user sets, and can be based on maybe that the locator data of storage sets.Preferably, positioner comprises and is used for determining the position of gantry in three dimensions and/or the position feedback mechanism of orientation.
The gantry positioner can be attached to an end on the supporting construction such as movably handbarrow, ceiling, floor, wall or patient table, and can be attached to the other end on the gantry such as gantry O-shape or C-shape, thereby support gantry with cantilevered fashion.The gantry positioner can be operated by hand and make the gantry location, perhaps can realize mechanization with the position feedback that allows to store specific gantry positions and orientation.This positioner uses for the medical imaging that comprises scanning (CT) imaging of three-dimensional computer x-ray tomography and two-dimensional x-ray photographing scanning and other medical science, science and commercial Application are particularly advantageous.
On the other hand, the gantry positioner provides gantry to rotate round isocenter and " tilting " non-isocenter and " swing " of X-axis and Y-axis respectively." swing " of isocenter is that the rotation of Y-axis line is to finish by the translation of gantry positioner and the combination action of rotation.
More generally, imaging system of the present invention comprises gantry, and its promising acquisition is positioned at the exercisable radiation source of image and the detector of the object of gantry the inside; Supporting construction; And gantry is fixed to gantry positioner on the supporting construction with cantilevered fashion.Positioner is exercisable, so that gantry is round but not first axle on same straight line rotation parallel with the isocenter axis of gantry.The isocenter axis of gantry used herein is the crossing axis in center (that is, isocenter) with the gantry image volume, for example, and the vertical axis of gantry.Control system impel the gantry positioner round first axle rotation gantry and on the second and the 3rd axis the translation gantry so that be similar to the rotation of gantry round the isocenter axis of gantry.
The invention further relates to the method for gantry that make round isocenter axis rotation, comprising: make gantry round but not axis on same straight line rotation parallel with the isocenter axis; At first direction gantry translation first distance; And in second direction gantry translation second distance, so that the isocenter of gantry is maintained the fixed position.
In the third aspect, the present invention relates to be used for the system and method for visual field of Enhanced Radiation Reduced Blast imaging system.In one embodiment, bigger visual field is to obtain around the rotation of radiation source focus by simulation gantry assembly when radiation source and detector are in pure front/rear position or pure lateral attitude.By the multiaxis line combination of a rotation and two translations, the rotation that centers on focus is possible.By the gantry assembly is moved to two or three gantry around the position of focus rotation with the data of generation as a result of are in the same place with numerical calculation method " stitching ", can obtain big view field image.
In fourth aspect, the present invention relates to be used for to enlarge the gantry imaging system and the method that radiation source and detector are merged in the multiaxis translation of the rotation of gantry the inside and gantry of the visual field of imaging object.Gantry so that detector moves to more the position near imaging object, is therefore increased the visual field by translation.Preferably, detector is moved to the center of gantry the inside and is treating on the imaging object and surrounding and treat that " imaginary circles " of imaging object is tangent.When radiation source and detector rotated by gantry, gantry is translation in phase, so that detector keeps tangent with imaginary circles, was similar to " hula hoop " motion on trunk.
Brief Description Of Drawings
Above-mentioned purpose, feature and advantage with other of the present invention will become obvious from the description more specifically of following the preferred embodiments of the invention about the accompanying drawing illustrated of representing identical parts at similar reference character different views everywhere.These pictures needn't be drawn to scale, but emphasize to illustrate principle of the present invention.
Fig. 1 is installed to the cantilevered O-shape gantry and the sketch map of the X-ray scanning system on the handbarrow movably to the gantry positioner;
Fig. 2 shows the gantry positioner of five degree of freedom;
Fig. 3 shows the gantry positioner along X-axis line translation gantry circle;
Fig. 4 shows the gantry positioner along Y-axis line translation gantry circle;
Fig. 5 A-5C shows the gantry positioner along z axis translation gantry circle;
Fig. 6 A-6C shows round the gantry positioner of X-axis line rotation gantry circle;
Fig. 7 A-7C shows round the gantry positioner of Y-axis line rotation gantry circle;
Fig. 8 A-8C illustrates the method that realizes " swing " rotation of isocenter round the Y-axis line;
Fig. 9 illustrates focus inclination gantry round x-ray radiation source to obtain the method for big visual field anterior-posterior radioscopic image;
Figure 10 illustrates focus inclination gantry round x-ray radiation source to obtain the method for big field-of-view lateral radioscopic image;
Figure 11 illustrates the positioning stage that influences translation and spinning movement in the gantry positioner;
Figure 12 is the decomposing schematic representation of the gantry positioner of five degree of freedom;
Figure 13 shows the positioner that is used for the translation of X-axis line;
Figure 14 shows the positioner that is used for the translation of Y-axis line;
Figure 15 shows the positioner that is used for the z axis translation;
Figure 16 shows and is used for round the positioner of certain bar axis spinning movement;
Figure 17 shows with the gantry positioner and is installed in cantilevered gantry circle on the floor;
Figure 18 shows with the gantry positioner and is installed in cantilevered gantry circle on the wall;
Figure 19 shows with the gantry positioner and is installed in cantilevered gantry circle on the ceiling;
Figure 20 shows the imaging system that the gantry positioner is arranged, and the patient is at the center of gantry circle;
Figure 21 shows the imaging system for the visual field gantry translation vertically that increases detector;
Figure 22 shows that the tangent relation detector for the imaginary circles of keeping and surround the patient is rotated to 45 degree positions and the gantry system of Figure 21 of translation;
Figure 23 shows that detector is rotated to the system of Figure 21 of 90 degree positions;
Figure 24 shows that detector is rotated to the system of Figure 21 of 135 degree positions;
Figure 25 shows that detector is rotated to the system of Figure 21 of 180 degree positions;
Figure 26 shows that detector is rotated to the system of Figure 21 of 225 degree positions;
Figure 27 shows that detector is rotated to the system of Figure 21 of 270 degree positions;
Figure 28 shows that detector is rotated to the system of Figure 21 of 315 degree positions;
Figure 29 shows " hula hoop " data collection matrix that is used for obtaining big visual field CT image.
Detailed description of the present invention
The preferred embodiments of the invention are described below.
Fig. 1 is a sketch map of showing X-ray scanning system 10 according to one embodiment of the invention.X-ray scanning system 10 comprises that being fixed to may be movably or the gantry on the supporting construction of immobilized handbarrow, patient table, wall, floor or ceiling 11.As shown in Figure 1, gantry 11 is fixed on movably on the handbarrow 12 with cantilevered fashion by gantry positioner 20.As what describe in further detail below, gantry positioner 20 can be with respect to supporting construction translation and/or inclination gantry 11 in case according to many image spaces and orientation with gantry 11 location.
Among Fig. 1 movably handbarrow 12 can optionally comprise power supply, x-ray power generator and be used for controlling the operation of X-ray scanning device and realize that Flame Image Process, radioscopic image store or the computer system of other data processing function.In preferred embodiments, computer system control positioner 20 makes gantry 11 be moved to user-defined certain location and orientation soon.Computerized optimization has and can store with specific gantry positions and/or be orientated the memorizer of relevant locating information.The locating information of this storage can be used for when needed gantry automatically being moved to predefined configuration.
Movably handbarrow 12 preferably also comprises the display system 60 of the image that is used for showing that the X-ray scanning device obtains such as flat faced display.Display also can comprise the user interface capabilities of permitting user and scanning system interaction and gated sweep systemic-function, for example, and touch screen controller.In specific embodiment, be subjected to the function that suspension button panel that the user controls or foot switch can the gated sweep system.
It will be understood that one or more fixed cells also can realize movably any function of handbarrow 12.
According to an aspect, X-ray scanning of the present invention system can be used for obtaining two-dimensional image or three-dimensional computer x-ray tomography scanning (CT) image of object (for example, patient).In the embodiment depicted in fig. 1, gantry 11 normally the handlebar imaging object be placed on central aperture wherein circle or " O-shape " frame.It will be understood that various other gantry configuration also can be used such as " C-shape " gantry.In one embodiment, gantry 11 comprises the X ray beam is projected among the central aperture of gantry, through imaging object (for example to the detector array that in gantry, is positioned at the opposite, dull and stereotyped digital detector array) x-ray radiation source (for example, rotating anode pulsed X-ray radiation source) on.Then, the X ray received of detector can be used to use well-known technology to produce the two dimensional image or the 3-D view of object.
X-ray radiation source can be with the inner space rotation round gantry 11 of the mode of successive or stepping, so that the X ray beam energy passes object and the projection of common isocenter with various angle in 360 degree rotating ranges partly or whole.Detector array also rotates in phase round the inner space of gantry and the rotation of x-ray radiation source, and consequently for each projectional angle of x-ray radiation source, detector array all is positioned in the x-ray radiation source opposite on gantry.Therefore, this device can obtain the high-quality radioscopic image of the target object in any projection plane in 360 degree rotating ranges partly or whole.
Fig. 2 illustrates the gantry positioner 20 according to five degree of freedom of one aspect of the present invention.Positioner 20 can be connected with gantry 11 in a side, thereby with cantilevered fashion gantry is fixed to movably on handbarrow 12 or other the supporting construction.In preferred embodiments, positioner 20 is subjected to robot control, and permit gantry 11 in five degree of freedom with respect to supporting construction translation and rotation, comprise along x-, y-and z-axis translation motion with round x-and the spinning movement of y-axis.Gantry positioner 20 can be used hand control, and perhaps, in preferred embodiments, it is the mechanization system that can move to desired location by electromechanical.Computerized motion control system can be attached on the mechanized part of localizer, and thorough position and the orientation of one or more considerations of gantry can be stored in the memorizer of computer.In scanning system operating period, predefined gantry positions and orientation can be given for change at an easy rate fast.
The various translation motion of gantry positioner is in Fig. 3-5 illustrated.Fig. 3 shows the side view of gantry positioner 20 in the scanning system of the steering handle gantry translation distance dX of X-axis.Fig. 4 shows the side view of gantry positioner 20 in the scanning system of the steering handle gantry translation distance dY of Y-axis.Fig. 5 be show gantry positioner 20 the steering handle gantry of Z axle from the primary importance translation distance dZ on the left side, center to the center, then to the vertical view of the scanning system of translation distance dZ to the three positions, the right, center.
Fig. 6 and 7 illustrates the spinning movement of gantry positioner 20 according to one aspect of the present invention.Fig. 6 shows that gantry positioner 20 makes gantry center on the front view of scanning system of the X-axis line rotation of system.This " inclination " spinning movement is an isocenter, so that the center of the image volume of gantry is maintained fixed in the rotation of X-axis line in gantry.
Fig. 7 shows that gantry positioner 20 makes the vertical view of gantry round the scanning system of the Y-axis rotation of system.According to an aspect, positioner 20 can " wave " rotation around the isocenter of Y-axis by the real gantry of the combination realization of spinning movement and translation motion.This is in Fig. 8 A-8C illustrated.In this embodiment, gantry positioner 20 is connected with gantry like this in a side, so that gantry 13 can be freely round the point of rotation 800 rotations.This spinning movement is round with the axis of the Y-axis line parallel of gantry.Yet, because the Y-axis line of this spinning movement and gantry is not on same straight line, so this spinning movement causes the translation of gantry isocenter 801 in the XZ-plane.Shown in Fig. 8 A-C, make gantry anglec of rotation θ make the isocenter of gantry at Z-direction translation distance dZ with at X-direction translation dX.In order to compensate this translation motion and therefore " waving " rotation of isocenter that is virtually reality like reality, positioner 20 translation gantry make it to get back to the direction of aiming at x-axle and z-axle respectively, as shown in Figure 6.Shown in Fig. 8 B, the requisite Z axle of the initial position translation distance (dZ) of isocenter 801 being taken back it is dZ=R*tan (θ), and wherein R is the radius of gantry.Shown in Fig. 8 C, the requisite X-axis line of the initial position translation distance dX that isocenter 801 is taken back it is dX=R*[tan (θ) sin (θ)+cos (θ)-1], wherein R is the radius of gantry.For any gantry anglec of rotation (θ), isocenter take back its original position and therefore the Y-axis that is virtually reality like reality distance of rotating requisite z-axle and the translation of x-axle can be to finish the gauged system controller of suitable translation and determine by controlling positioner 20 automatically.
This by quote as proof with its all the U.S. Patent application examined of the same wait incorporated into of instruction in application on March 18th, 2003 system and method that uses less detector array to realize bigger object image-forming is described for the 10/392nd, No. 365.This part application is described in the radiation image-forming system by substantially obtaining " effectively " big visual field perpendicular to the detector positioner with respect to radiation source translation detector array on the direction of radiant flux track.
According to an aspect, gantry positioner 20 of the present invention can be by control gantry translation and/or big visual field of spinning movement acquisition big " effectively " with respect to imaging object.As shown in Figure 5, for example, gantry positioner 20 can be expanded into picture system axial or visual field longitudinally by the direction translation gantry 11 at the Z axle.Three two-dimensional images of object or three dimensional CT image can obtain by following sequence: gantry (and therefore detector) is first image during to left of center by translation distance dZ, gantry and detector be at second image of center, and gantry and detector by translation distance dZ the 3rd image during to right of center.Then, these three images that continue to obtain can merge, or " stitching " together, produce axial visual field than using the wide image in the obtainable visual field of single fixed detector.This technology is advantageously permitted otherwise will be extended to the almost imaging simultaneously of object of outside, gantry visual field longitudinally (for example, human spine).
Fig. 9 illustrates by obtain the method for the front/rear image of Radix Rumicis 2D of object round the focus 900 rotation gantry of radiation source 13.When radiation source 13 in the extreme higher position of gantry and detector 14 in the bottom, perhaps when detector 14 when two radiation sources 13 are in the bottom in the extreme higher position, when promptly being commonly called front/rear (AP) configuration, can make in this way.Positioner 20 is by making gantry round the rotation of X-axis line, and the translation motion of original position correction focus 900 in the YZ plane that makes focus 900 get back to it by the direction translation gantry at Y-axis line and z axis simulated round the rotation of radiation source focus 900 then.The technology type of a this spinning movement and two correction translations is similar in conjunction with the Y-axis of Fig. 7 and 8A-8C description and " waves " rotation.As shown in Figure 9, this simulation gantry makes scanning device obtain multiple front/rear image continuously at different detector positions round the technology of focus 900 rotations of radiation source 13, uses numerical calculation method that generated data " stitching " is produced effectively big visual field AP image together then.
Figure 10 shows that using same technology obtains effectively big visual field 2D lateral object images.Here, radiation source and detector both on the X-axis line of gantry (that is lateral attitude).The gantry positioner pivots gantry round the Y-axis line, and translation in the XZ-plane, so that simulation is round the rotation of x-ray focus 900.This makes scanning device obtain the multiple transverse subject image continuously at different detector positions, uses numerical calculation method that generated data " stitching " is produced effectively big field-of-view lateral image together then.
This acquisition effectively method of big 2D subject image can be generalized to radiation source and detector location so that be connected the straight line of radiation source and detector perpendicular to any gantry positioner of the rotation axis of gantry and the configuration of gantry toward each other on gantry.Like this, the gantry positioner can make gantry rotation and translation with approximate rotation round the radiation source focus, and therefore produces the 2D subject image of Radix Rumicis.
Translate into Figure 11 now, the gantry positioner 20 of five degree of freedom is at length shown.In illustrational embodiment, device 20 comprises three linear orientation devices, comprises being used for advancing/go out localizer 305, be used for the vertical positioner 307 of Y-axis translation and be used for the lateral locator 309 of Z axle translation of X-axis translation.Device 20 further comprises two rotary positioning apparatus, comprises tilt positioner 311 that is used for the X-axis rotation and the wag positioner 312 that is used for influencing the Y-axis rotation.Various positioner is installed on the vertical installation bracket 313.Each ingredient of positioner 20 is illustrated in the exploded view among Figure 12.As illustrational at this, wag positioner 312 at one end with advance/go out localizer 305 and be connected, and be connected with vertical tray 313 at the other end.This permits into/goes out upper part and the gantry of localizer 305 at X-axis line direction translation positioner.Wag positioner 312 can make whole carriage 313 and gantry with respect to advance/go out localizer and supporting construction is rotated round vertical axis.Carriage 313 is attached on the part of vertical positioner 307, and the second portion of vertical positioner 309 is movably with respect to carriage and supporting construction together with gantry in vertical direction.The moveable part of vertical positioner 309 is attached on the part of lateral locator 311, and the second portion of lateral locator 311 is movably with respect to carriage and supporting construction together with gantry on horizontal direction.At last, tilt positioner 311 is fixed on the moveable part of lateral locator 311, and tilt positioner 311 makes the part that gantry is installed on the device 20 gantry rotate round X-axis with respect to supporting construction.
Translate into Figure 13 now, be used for the X-axis translation advance/go out localizer 305 comprise be used for making the cantilevered gantry circle towards or away from the mechanized component of supporting construction translation.Advance/go out localizer and comprise top board 315, waving rotational positioner 312 is (the seeing Figure 11) that are fixed by bolts on this top board.Top board 315 is by can moving along the length of base plate 317 with the linear guides 321 paired blocks 319 that are installed on the track base 320 that is attached on the base plate 317.Geared servo motor 323 is installed on the base plate 317 rigidly by motor seat 325.Ball screw assembly 327 is installed on the base plate 317, and is parallel to linear guides 321 layings along the length of base plate 317.The ball screw assembly comprises and the paired ball screw of ball screw nut.Nut is fixedly secured on the top board 315.Motor 323 makes ball screw in the direction of the clock or counter rotation by the motor shaft coupling.Ball screw is in the direction of the clock or rotation counter clockwise all makes ball screw nut (and therefore making top board 315) move up and down the length of ball screw.When it by servo motor 323 along the length of base plate 317 allochthonous the time, linear guides and blocks are handled top board.Like this, the cantilevered gantry assembly can be in a controlled manner towards or away from the supporting construction translation such as movably handbarrow, floor, wall, ceiling or patient table.
Figure 14 shows the vertical positioner 307 that is used for respect to supporting construction translation cantilevered gantry vertically.In the embodiment depicted in fig. 14, vertical positioner 307 is in structure and operating aspect and advances/go out the same in essence mechanized component of localizer 305.Yet vertical positioner 307 is vertically directed, so that blocks 319 can be with respect to base plate 317 translation up or down.As shown in figure 14, vertical positioner comprises one group of blocks 319 on the linear guides 321 that rides on the track base 320 that is installed on the side that is attached to base plate 317.Blocks 319 as described in Figure 13 with respect to base plate 317 by servo motor 323 and 327 translations of ball screw assembly.Opposite side at base plate 317 is second group of track base 322.These track bases 322 are used to guide vertical positioner 307 with respect to the moving up and down of vertical installation bracket 313, as shown in figure 11.The blocks 319 and the nut of the ball screw assembly 327 of vertical positioner 317 are fixed on the rear wall of installation bracket 313.Therefore, linearly the translation nut time, vertically moved up and down with respect to carriage 313 by the base plate 317 of blocks 319 guidances with respect to base plate 317 when motor 323 and ball screw assembly 327.
Figure 15 displaying is used for respect to the lateral locator 309 of supporting construction in horizontal direction translation cantilevered gantry.In this embodiment, lateral locator 309 is included on the horizontal direction directed like this so that blocks 319 can be with respect to the mechanized component of base plate 317 translation on Z-direction.As shown in figure 15, lateral locator comprises the carrier frame plate 344 that is connected with one group of blocks 319 that rides on the linear guides 321 that is installed on the track base 320.Track base 320 is rigidly attached to a side of base plate 317.Geared servo motor 323 and gear-box 340 are also attached on the base plate 317.The gear-box 340 of motor 323 is connected to the belt drive component 342 of the belt that can laterally move along the length of base plate 317.Belt is received on the carrier frame plate 344 like this, so that when belt drive component is driven by motor and gear-box, is subjected to carrier frame plate 344 that blocks 319 guides with respect to base plate 317 translation on horizontal direction.As shown in figure 12, the base plate of lateral locator 309 is rigidly on the base plate attached to vertical positioner 307.Therefore, whole lateral locator 309 is along with advancing/go out localizer 305 and vertical positioner 307 action is separately advanced/gone out or vertically go up/following translation.The carrier frame plate of lateral locator 309 can be attached on the gantry circle so that with respect to carriage 313 and supporting construction left and right sides transverse translation circle.
Figure 16 displaying is used for making the rotational positioner of cantilevered gantry with respect to the supporting construction rotation.Such rotational positioner can conduct be used for tilt positioner 311 uses that the gantry X-axis is rotated, and second rotational positioner can be as being used for influencing wag positioner 312 uses that the gantry Y-axis is rotated.Bearing rotates with respect to the outer ring assembly 339 of diameter greater than internal ring with internal ring 335.Outer shroud 339 is rigidly attached on the interface board 346.Internal ring 335 is driven by geared servo motor 347 and gear-box 348 and is rotatable with respect to outer shroud 339.When rotational positioner is used as X-axis tilt positioner 311, outer shroud 339 is fixed on the carrier frame plate 344 of lateral locator 309, internal ring 335 can be fixed on the gantry then, as shown in figure 15, gantry can be tilted with respect to the remainder and the fixed support structure of gantry localizer.When rotational positioner is used as Y-axis wag positioner 312, internal ring 335 is fixed to into/goes out on the top board 315 of localizer 305, and outer shroud 339 is fixed on the vertical installation bracket 313, as shown in figure 12, therefore the upper part of gantry positioner and gantry itself can be rotated with respect to advancing/go out localizer 305 and supporting construction round vertical axis.
According to an aspect, for gantry can accurately be located along every degree translation or spinning movement, each localizer assembly 305,307,309,311 and 312 of forming gantry positioner 20 comprises and is used for position feedback information is offered the mechanism of its servo motor separately.For example, with reference to Figure 13, linear coding tape can be attached on the linear guides 321, and reads yard magnetic head and can be positioned on the top board 315 so that read to encode tape and the feedback data of the relative position of indication top board 315 and base plate 317 is provided.Similarly, with reference to Figure 16, rotary encoder can be used for determining the relative angle position of internal ring 335 and outer shroud 339.Preferably, position feedback mechanism is an absolute position coder system, so that can both accurately determine translation and/or the position of rotation of delineation position device in all degree of freedom at any given computerized motion control system of the moment, and therefore can determine position and the orientation of gantry in three dimensions.
Translate into Figure 17-19 now, show the various different embodiments of cantilevered gantry 11 and gantry positioner 20.In Figure 17, gantry positioner 20 is installed on the floor by the base plate 355 that advances/go out localizer 305.Tilt positioner 311 is installed in a side of gantry 11.The gantry positioner is exercisable so that with respect to translation of fixed room and inclination gantry 11.
Figure 18 shows that a side is installed on the wall 357 and opposite side is installed in and therefore allows the gantry positioner 20 of cantilevered gantry with respect to translation of fixed room and inclination on the gantry 11.In Figure 19, gantry positioner 20 1 sides are fixed on the ceiling 359, and opposite side is fixed on the gantry 11.Delineation position device 20 and gantry 11 may be installed on any suitable supporting construction in the same way, for example are installed on the patient's that placement is being checked the estrade.
According to another aspect, the present invention relates to the translation on two orthogonal directions of the rotation of radiation source and detector and gantry circle merged and make the visual field for the treatment of imaging object reach peaked radiation image-forming system and method.This method can be used the X-ray scanning system and before realize in conjunction with the gantry positioner of Fig. 1 description.
Figure 20-29 illustrates a this example that obtains the technology of three dimensional CT object reconstruction with the visual field of amplifying.As shown in figure 20, scanning system comprises the human patients 811 that is placed on gantry 11 the insides.Patient 811 is supported on the patient table 813, and is the center with the isocenter of gantry circle 11 at first.Gantry positioner 20 is prolonged partially at x-and y-direction, consequently advances/go out localizer and vertical positioner approx at they stroke centers separately.X-ray source 13 and detector 14 are rotated to 0 degree position in gantry, so that radiation source is at the top dead-centre of gantry, and detector is in the bottom of gantry, directly below the patient.
Next, gantry positioner 20 on Y direction gantry 11 upwards translation vertically, up to the diameter of bore of gantry be centered close on the imaging object and also be slightly larger than object and any supporting construction (for example, the imaginary circles 815 of diameter estrade 813) is tangent, as shown in figure 21.Make it more close detector by the mobile imaging object, the visual field of system is increased.In case gantry is positioned as shown in the figure, X ray picture just can be captured to computer storage, and is stored, so that check or further processing.
In order to obtain 3D CT image, radiation source and detector in the rotation of gantry the inside so that obtain X ray data from various projectional angle.Preferably, during the object rotation sweep, hole circle and imaginary circles are tangent in the system held gantry, so that keep the visual field that detector is increased.This can be by being accomplished with translation motion that gantry is controlled in the rotation of detector mutually in phase, shown in Figure 22-28.
For example, as shown in figure 22, detector 14 moves to 45 degree positions from 0 degree position on gantry.When detector rotates, gantry positioner 20 is gantry translation second distance on first distance of translation on the direction of X-axis and the direction in Y-axis, so that the endoporus of gantry keeps tangent with the imaginary circles 815 of surrounding patient and brace table in position of detector.This process is when detector rotates to 90 degree (Figure 23), 135 degree (Figure 24), 180 are repeated when spending (Figure 25), 225 degree (Figure 26), 270 degree (Figure 27) and 315 degree (Figure 28).In each afterwards position of rotation of detector and radiation source the position of X ray projection data (or obtain at each at least), gantry positioner 20 all along x-and y-axle translation gantry so that keep the tangent of detector 14 and imaginary circles 815.When detector had rotated complete 360 degree and got back to 0 degree position, angle, the original position of shown in Figure 21 it was got back in the gantry translation.Therefore, gantry 11 constantly moves mutually in phase with the spinning movement of detector in the XY plane, so that keep gantry at detector position and tangent by the imaginary circles of object and supporting construction definition.This gantry is similar to " hula hoop " motion round trunk with respect to the multiaxis translation motion of imaginary circles.For each X ray exposure of detector, the translation position of the anglec of rotation of radiation source and detector and gantry all goes on record.Then, the gantry positions of storage is transfused to the CT algorithm, to produce three-dimensional body reconstruct.Because " hula hoop " formula translation of gantry, the visual field of reconstructed image is greater than the image that obtains with traditional iso-centric gantry scan.The subclass of CT data collection matrix is illustrated among Figure 29.
The use of the gantry positioner of the visual field of increase regionally detecting device described here has some advantages that surpass other technology be used for improving the visual field in radiation image-forming system.Therefore for example, come mobile detector to make it more close object by the whole gantry of translation, the visual field can and needn't increase the divergence of X ray conical beam and increase under the situation of tail effect of beam and increase at the internal diameter that does not reduce gantry.In addition, the method that the present invention increases the visual field is easy to be realized apace, and need does not increase the expense of a plurality of detectors or radiation source is moved to a plurality of positions in order to simulate wide visual field.Method of the present invention does not also need or only needs little by little additional data collection time, and be useful especially for the application (for example, the rotation blood vessel integer art contrast injected rotational angioplastry of injection of contrast medium) that imaging must more safely be finished fast.
Describe x-ray imaging system and method at this and can be advantageously used in two dimension and/or three-dimensional X-ray scanning.Can be in sight along gantry rotation from the discrete two-dimensional projections of set angle, or spread all over the multiple projection that rotations part or whole collect and can use taper or segmental beam tomographic reconstruction techniques to rebuild.This invention may as by be cited in this with its all instruction incorporate into as described in No. the 10/389th, 268, the U.S. Patent application of owning together of application on March 13rd, 2003, be used to obtain multilevel radioscopic image in quasi-instantaneous mode.
Detector array of the present invention comprises two-dimensional flat plate solid state detector array.Yet, people will understand, various detector and detector array can be used to this invention, be included in typical diagnostic fan or conical beam imaging system (for example, utilize the C-shape arm cryptoscope of image intensifier technology or CT scan devices single section or many sections or movably with the fixing cryptoscope device in room) in any detector configuration of using.Preferred detector is to use the two-dimensional film transistor X-ray detector of amorphous silicon flasher technology.
Aspect another, the gantry of O shape can comprise separates with the gantry circle at least partially so that the aperture of the center imaging region that the object that allows to treat imaging radially passes in and out the gantry circle or the section of " fracture " are provided on the gantry circle.The advantage of such device is to have the ability to handle in target object (for example, the patient) X ray gantry on every side in order to finish x-ray imaging, closes object gantry on every side then, thereby causes the destruction to the object minimum.The example that is used for " can disconnect " gantry device of x-ray imaging is by describing in No. the 10/319th, 407, the U.S. Patent application of owning together of December in 2002 application on the 12nd of being cited in that this will instruct all that it incorporates into.
In certain embodiments of the invention, for example at the gantry positioner in order to obtain image and the occasion of translation and/or rotation gantry in the multiple detector position, scanning system can be programmed, so that the data that obtain in the multiple detector position are projected once more on the detector array of (equilinear) of single virtual isoline or isogonism, for example, by be cited in this with its all applying for simultaneously with the application of incorporating into of instruction be common pendent U.S. Patent application (the procuratorial case 3349.1005-001 number) description of topic with " Apparatus and Method for Reconstruction of VolumetricImages in Divergent Scanning Computed Tomography System (apparatus and method that are used for the reconstructed volume image in the computed tomography systems in divergent scan mode) ".
Though here the embodiment of Zhan Shiing comprises the gantry positioner of five degree of freedom, but it will be understood that, various other embodiment of the present invention exists, and wherein the gantry positioner can translation or inclination in some direction, but can not in other direction.
Although this invention showed particularly with reference to its embodiment preferred and describe, the people who is familiar with this technology will understand in various change aspect form and the details and can be accomplished under the situation that does not break away from the scope of the present invention that claims include.For example, though this show and and the specific embodiment relate generally to x-ray imaging described use, but people will be further understood that, principle of the present invention also can be extended to other medical science and antimedical imaging applications, for example, comprise nuclear magnetic resonance (MRI), PET (positron emission tomography) (PET), single photon emission computed tomography (SPECT), ultrasonic imaging and photographing imaging.
In addition,, comprise commercial Application here although the embodiment relate generally to medical imaging of showing and describing it will be understood that the present invention can be used for many other application, for example, the imaging of the check of the test of material and analysis, container and big object.
Claims (14)
1. gantry positioner that is used for five degree of freedom of radiation image-forming system, this gantry positioner are fit to cantilevered fashion the gantry circle that is O-shape is attached on the supporting construction, comprising:
Be used for respect to first linear positioner of supporting construction in first direction translation gantry;
Be used for respect to second linear positioner of supporting construction in second direction translation gantry, second direction is orthogonal with first direction;
Be used for respect to the trilinear localizer of supporting construction in third direction translation gantry, third direction is orthogonal with first and second directions;
Be used for respect to first rotational positioner of supporting construction round first axle rotation gantry; And
Be used for respect to second rotational positioner of supporting construction round second axis rotation gantry, second axis is orthogonal with first axle;
The gantry circle that is O-shape is fit to round the 3rd axis the x-radiographic source be revolved three-sixth turn with respect to supporting construction, the 3rd axis and first and second orthogonal axes.
2. according to the gantry positioner of claim 1, further comprise:
Be used for controlling the control system of the translation and the spinning movement of gantry.
3. according to the gantry positioner of claim 2, wherein control system impels the gantry positioner that gantry is moved to user-defined position and orientation.
4. according to the gantry positioner of claim 2, wherein control system impels the gantry positioner to certain position and orientation based on the locator data that stores.
5. according to the gantry positioner of claim 2, further comprise being used for determining the position feedback mechanism of the position of gantry with respect to supporting construction.
6. according to the gantry positioner of claim 1, wherein gantry further comprises and is positioned at the radiating detector that the X-ray source opposite is used for surveying projection.
7. according to the gantry positioner of claim 6, wherein X-ray source and detector can be around the inner space rotations of gantry, so that obtain subject image under various projectional angle.
8. according to the gantry positioner of claim 7, wherein X-ray source and detector are exercisable, so that obtain the two-dimensional x-ray images of object.
9. according to the gantry positioner of claim 7, wherein X-ray source and detector are exercisable, so that obtain the 3 D X-ray image of object.
10. according to the gantry positioner of claim 1, wherein supporting construction comprises one of wall, floor and ceiling at least.
11. according to the gantry positioner of claim 1, wherein supporting construction comprises handbarrow.
12. according to the gantry positioner of claim 1, wherein supporting construction comprises and is used for supporting the estrade for the treatment of imaging object.
13. according to the gantry positioner of claim 1, wherein supporting construction is movably.
14. the gantry positioner according to claim 1 further comprises the carriage that is used for installing linear positioner and rotational positioner.
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| US40509802P | 2002-08-21 | 2002-08-21 | |
| US60/405,098 | 2002-08-21 |
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| CNB038223538A Expired - Lifetime CN100415168C (en) | 2002-08-21 | 2003-08-21 | Gantry positioning apparatus for x-ray imaging |
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| EP (2) | EP2201894B1 (en) |
| JP (2) | JP4425792B2 (en) |
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| AT (2) | ATE520351T1 (en) |
| AU (1) | AU2003268141A1 (en) |
| DE (1) | DE60333018D1 (en) |
| WO (1) | WO2004017832A2 (en) |
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| JP2005536288A (en) | 2005-12-02 |
| US7338207B2 (en) | 2008-03-04 |
| CN1681436A (en) | 2005-10-12 |
| DE60333018D1 (en) | 2010-07-29 |
| WO2004017832A3 (en) | 2004-07-01 |
| US20060120511A1 (en) | 2006-06-08 |
| WO2004017832A9 (en) | 2004-04-29 |
| US20040170254A1 (en) | 2004-09-02 |
| ATE471110T1 (en) | 2010-07-15 |
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